Patent application title: Method and Device For Moving a Camera Disposed on a Pan/Tilt Head Long a Given Trajectory

Abstract:

The invention relates to a method for moving a camera that is disposed on
a pan/tilt head along a given trajectory especially in a set or studio as
well as an associated camera robot. In order to be able to move a camera
with repeated accuracy along a given trajectory, an associated trajectory
is determined for the spatial positions and orientations of a basic
reference system of the pan/tilt head from the given trajectory for the
camera, and associated control variables for shafts of a robot that can
be moved in Cartesian coordinates are generated from the determined
trajectory for the basic reference system of the pan/tilt head and are
transmitted to the shafts, thus allowing camera movements to be made that
are not possible with previously known systems.

Claims:

1. Method for moving a camera (3) disposed on a pan/tilt head (5) along a
defined trajectory (2), in particular on a set or in a studio
(1),characterized in thatan associated trajectory for the spatial
positions and orientations of a basic reference system (4) of the
pan/tilt head (5) is determined from the defined trajectory (2) for the
camera (3), and associated control variables for shafts (A1-A6) of a
robot (8) movable in Cartesian coordinates, on whose receiving flange (7)
the pan/tilt head (5) is attached, are generated from the determined
trajectory of the basic reference system (4) of the pan/tilt head (5) and
are transmitted to the shafts (A1-A6).

2. Method according to claim 1,characterized in that an articulated-arm
robot is employed as the robot (8).

3. Method according to claim 1 or 2,characterized in that the trajectory
(2) for the camera (3) or for the basic reference system (4) of the
pan/tilt head (5) is traversable in real time by a manual control system
(15).

4. Method according to one of claims 1 through 3,characterized in that the
trajectory (2) for the camera (3) or for the basic reference system (4)
of the pan-tilt head (5) is fed from a simulation system (16) of a
virtual set or studio (1) to a controller (9) of the robot (8).

5. Method according to one of claims 1 through 4,characterized in that the
trajectory (2) for the camera (3) or for the basic reference system (4)
of the pan-tilt head (5) is stored in a controller (9) of the robot (8)
as a pre-programmed trajectory model (19).

6. Method according to claim 5,characterized in that a large number of
pre-programmed trajectory models are stored in the controller (9), and
that a trajectory model that is to be executed is activatable by being
selected on a control device (17) that is coupled with the controller
(9).

7. Method according to claim 5,characterized in that the pre-programmed
trajectory models are stored in a memory (19) that is detachable from the
controller (9).

8. Method according to one of claims 1 through 7,characterized in that the
control variables for shafts (A1-A6) of a first robot (8) are
synchronized with control variables of at least one second robot (13) by
means of a synchronous control (14).

9. Method according to one of claims 1 through 8,characterized in that the
control variables for shafts (A1-A6) of the at least one robot (8, 13)
and for shafts (A7, A8) of the pan-tilt head (5) of the camera (3) are
synchronized by means of a synchronous control (14) with control
variables for traveling drives (31) of a movable platform (32) on which
the robot (8, 13) is mounted.

10. Method according to claim 9,characterized in that the movable platform
(32) is an automatically movable traveling stand or a platform with
omnidirectional drives (33).

11. Method according to claim 10,characterized in that the omnidirectional
drives (33) preferably have Mecanum wheels.

12. Method according to one of claims 9 through 11,characterized in that
the position of the movable platform (32) in the plane of travel is
calibrated by means of markers with known positions.

13. Method according to claim 12,characterized in that one or more optical
targets (33) affixed in the plane of travel of the movable platform (32)
and/or systems that enable orientation with the aid of laser scanners or
a GPS are used as markers.

14. Method according to one of claims 9 through 13,characterized in that
the position and/or orientation of the camera (3) in space is determined
based in part on the position of a movable platform or a stand.

15. Method according to one of claims 1 through 14,characterized in that
the shafts (A1-A6) of the robot (8) are provided with different drive
types and or transmission types, depending on different usage profiles.

16. Method according to claim 15,characterized in that in the case of a
usage profile for camera movements at low speeds and with very little
noise electric motors are employed, in particular servo motors.

17. Method according to claim 16,characterized in that the servo motors
are driven by frequency converters at a frequency of over 15 kilohertz.

18. Method according to claims 15 through 17,characterized in that in the
case of a usage profile for camera movements at low speeds and with very
little noise preferably harmonic drive transmissions are employed.

19. Camera robot having a pan/tilt head (4) designed to carry a camera
(3), which is disposed on a receiving flange (7) of a robot
(8),characterized in that the robot (8) has at least four axes of
rotation (A1-A4).

20. Camera robot according to claim 19,characterized in that the robot (8)
has six axes of rotation (A1-A6).

21. Camera robot according to claim 19 or 20,characterized in that the
camera robot (8) is connected to a controller (9) that is designed for
controlling additional positioning drives for at least the pan and tilt
functions of the pan/tilt head (5).

22. Camera robot according to claim 21,characterized in that the
controller (9) is additionally designed to actuate positioning drives for
roll, camera, zoom, focus and/or iris.

23. Camera robot according to one of claims 19 through 22,characterized in
that the camera robot (8) is disposed on a linear drive (30) that is
actuatable by the controller (9).

24. Camera robot according to one of claims 19 through 23,characterized in
that the camera robot (8) is disposed on a movable platform (32).

25. Camera robot according to claim 24,characterized in that the movable
platform (32) is an automatically or manually movable traveling stand or
a platform with omnidirectional drive (33).

26. Camera robot according to claim 25,characterized in that the
omnidirectional drive preferably has Mecanum wheels.

Description:

[0001]The invention relates to a method for moving a camera disposed on a
pan/tilt head along a given trajectory, especially on a set or in a
studio, as well as to a camera robot having a pan/tilt head designed to
hold a camera, which is disposed on a receiving flange of a robot.

[0002]The invention can preferably be employed in virtual studios, for
example for news, reporting, sports reports, and also for creating
commercials and video clips, both in the form of live events and in
recorded form. Another area of application is film production and
postproduction.

[0003]The term virtual studio is used for production environments for
audiovisual contributions in which real backdrops and sets are replaced,
or at least augmented, by computer-generated images. Portions of the
space of the virtual studio are replaced in part by computer-generated,
or virtual, images or graphics. At the present time this is done using
the chroma key method. Newer methods provide for digital stamping
techniques.

[0004]The virtual image sources can be for example weather maps, which are
added to a blue screen. When using static virtual images, movements of
the camera are not allowed. If the camera were to be moved, discrepancies
in perspective would result between real and virtual parts of the
picture. As a consequence of the discrepancies of perspective, the
unified visual impression of an apparently real world is destroyed. This
effect occurs especially severely in the case of panning movements of the
camera.

[0005]Modern computer graphics make it possible to produce two-dimensional
and three-dimensional virtualities that can be inserted into an actual
recorded image or series of images in synchronization with camera
movements. However, that requires the ability to assign the spatial
position and the orientation of the camera in space for each image of a
sequence, each so-called frame. The position and orientation are also
referred to in combination as the pose. The registered values of
positions and orientations of the camera in space are also referred to as
tracking data. The registered values can be augmented with interpolated
values. The movements of the real camera must be simulated in a virtual
studio, in order to be able to define the perspective that matches a
particular camera pose and to create the virtual images. To do so, the
simulation system must be able to detect the poses of the real camera by
means of a camera tracking system, and then to simulate them.

[0006]For manually guided cameras there are tracking systems that are able
to determine the pose of a camera in all six degrees of freedom, for
example by means of infrared measuring cameras, and thus allow motion
tracking. However, it is nearly impossible with a manually guided camera
to repeat exactly a particular trajectory that is prescribed or has
already been executed once.

[0007]Automatically guided cameras can repeat exactly trajectories that
have already been executed once. To that end the camera is placed on a
movable stand. WO 93/06690 A1 shows a remotely controllable movable stand
that is equipped with a television camera. Defined positions of the
television camera are assigned to a plurality of image settings by means
of a control system. That requires traveling to the individual positions
and storing them.

[0008]The object of the invention is to provide a method and a camera
robot by which a camera can be moved along a prescribed trajectory with
repeating accuracy.

[0009]The repeating accuracy should preferably be possible with
automatically moved cameras, but also with manually propelled cameras.
The method and the camera robot according to the invention can be
employed especially advantageously to enable applying computer-generated
(offline programmed) virtual trajectories of a virtual camera directly to
a real camera in a simulation, without first having to perform learning
runs.

[0010]The problem according to the invention is solved in a in method
conforming to the genre, in that an associated trajectory is determined
for the spatial positions and orientations of a basic reference system of
the pan/tilt head from the given trajectory for the camera, and
associated control variables that can be moved in Cartesian coordinates
for shafts of a robot, to whose receiving flange the pan/tilt head is
attached, are generated from the determined trajectory for the basic
reference system of the pan/tilt head and are transmitted to the shafts.

[0011]According to the invention, the pan/tilt head is guided by the robot
in Cartesian coordinates along a trajectory. Because of the motion in
Cartesian coordinates, the repeating precision of the motion can be
maintained especially well.

[0012]Preferably, an articulated-arm robot is employed as the robot. The
articulated-arm robot has in particular at least four, and advantageously
six axes of rotation. Because of the use of an articulated-arm robot, the
same camera poses can be achieved with different joint positions of the
articulated-arm robot. That makes a camera robot available that can be
employed especially flexibly, since it enables camera movements that were
not possible previously with known systems.

[0013]If a sequence of positions and orientations of a camera to be
traversed along a trajectory is known, then motion commands can be
generated from the associated position data which control a robot that
guides the camera along the desired trajectory. The drive motors to be
actuated by a controller, preferably through servo amplifiers, are driven
simultaneously, so that the shafts of the robot can be moved
simultaneously. Each robot shaft can have its own controller associated
with it, and a plurality of controllers for a plurality of robot shafts
can be coupled or synchronized via suitable bus systems. It is also
possible according to the invention to provide a specific controller for
the drive of the robot shafts, and a separate controller for the
functions of the camera and the pan/tilt head. The control of the
functional unit of camera and pan/tilt head can be connected with the
control of the robot axes through suitable bus systems, which preferably
ensure coupled or synchronous operation. For example, the virtual
trajectories or prescribed trajectories generated in a simulation of a
set or studio can be fed directly to the robot in the real studio, so
that the latter can guide the camera on the trajectory with repeating
accuracy.

[0014]Desired speed or acceleration profiles can be assigned to the given
trajectories. It is also possible to assign various speed or acceleration
profiles to the same given trajectory, and thus to produce various camera
movements with differently acting sequences despite the same trajectory
in space. The image sequences created then have different dynamics.

[0015]To couple the camera and robot, it is essential that a pan/tilt head
be provided between camera and receiving flange of the robot. Together
with the camera, the pan/tilt head, which may have the roll function in
addition to the applicable pan and tilt functions, forms the functional
unit which in particular can be actuated separately from the robot. That
can result in an independent orientation of the camera according to the
known camera guiding methods, in addition to a spatial pose defined by
the robot position. It is especially advantageous that camera controllers
which are already on the market can continue to be used for the functions
such as pan, tilt, roll, zoom, focus and iris. This is achieved by having
the motion plan for the robot shafts refer to the basic reference system
of the pan/tilt head, and not to the camera itself. The basis reference
system is the name for a coordinate system that has a fixed position in a
part of the pan/tilt head assigned to the receiving flange. The use of a
robot makes it possible to traverse not only trajectories that are
impossible with conventional systems such as the known movable stands.
Because a robot has many shafts, the same spatial position can be
occupied by means of different combinations of shaft positions through
multiple positions of the robot. Hence it is also possible to traverse
sequences of positions that are not possible with the known systems.

[0016]Camera movements that are achievable with the method according to
the invention can be employed not only in virtual studios, but also
enable camera movements with formerly unachievable repeating accuracy for
example in live programs or sports broadcasts. Using the known systems
without movable stands, only motions in the vertical direction and
pivoting around the vertical direction (panning) are possible. Movable
stands are then required for linear motions in the horizontal direction.
When a robot according to the invention is used, linear camera movements
in a horizontal direction are possible even when the robot is standing
still, without need of an expensive movable stand.

[0017]In an advantageous embodiment of the invention, the trajectory for
the camera or for the basic reference system of the pan/tilt head can
also be traversed through manual movement by means of a controller in
real time. To that end, either the spatial position of the basic
reference system of the pan/tilt head can be set for example by means of
a joystick or some other hand-guided operating part, while the camera can
be oriented independently according to the known camera guidance systems,
or else the spatial position of the camera can be set directly by means
of the joystick or the hand-guided operating part.

[0018]In another preferred embodiment of the invention, the trajectory for
the camera or for the basic reference system of the pan/tilt head is fed
in from a simulation system of a virtual set or studio. In a simulation
of sets that have already been created virtually, pre-planning is
possible and the trajectory of the camera can be calculated within the
simulation. This virtually planned trajectory of the camera can be fed to
a controller for the robot and executed for example in real time, so that
the robot can guide the camera directly on the planned trajectory. For
real-time operation, the robot and/or the unit of camera and pan/tilt
head are operated with a controller having real-time capability. This
planned trajectory can be repeated by the robot as often as desired and
with positional accuracy, without deviations in the pose of the camera on
the trajectory. Since the robot system according to the invention has no
components that are subject to slippage, true-to-path repeatability of
the camera travel on the trajectory is possible. Slippage, such as is
present for example in movable stands with wheels, cannot occur in a
robot according to the invention.

[0019]Alternatively, the trajectory for the camera or for the basic
reference system of the pan/tilt head can be stored in a controller for
the robot as a pre-programmed trajectory model. By storing pre-programmed
trajectory models, a user can get along without complicated and
cost-intensive simulation programs and manual learning runs. A trajectory
model may be for example a pre-programmed 360° pan around a fixed
point. Another trajectory model can be for example a linear pass past a
fixed point. At the same time, the camera can optionally be focused on a
point in space during the pass. Thus users can use trajectories without
having to program them themselves.

[0020]In an advantageous refinement, a large number of pre-programmed
trajectory models are stored in a controller for the robot. A trajectory
model to be executed can be activated by the user as needed by selecting
it on an operating device coupled with the controller.

[0021]The pre-programmed trajectory model can be stored in a memory that
is detachable from the controller. This makes it possible to exchange
existing trajectory models simply and inexpensively. Trajectory models
that are no longer needed can be removed from the controller, so that
these model controllers can no longer be activated. In addition, new
trajectory models can be added. Specifying fixed, pre-programmed
trajectory models increases the reliability of the robot system, since
the user is prevented from exercising any influence, and thus erroneously
programmed trajectory models, which could represent a risk to safety,
cannot even be created.

[0022]In applications having a plurality of cameras on a set or in a
studio, the controlling variables for shafts of a first robot can be
synchronized with controlling variables of at least one second robot by
means of a synchronous control. The synchronization can be achieved for
example by having a plurality of cameras focused on a common object from
different positions, and when the object moves in space and is tracked by
means of the first camera, the other cameras keep the object in focus
synchronously with the first camera.

[0023]Object tracking is possible with the method according to the
invention or with one or more robots, including the option of manual
changing. For example, an individual robot can execute an automated
motion in which the desired target object always remains captured in the
image of the camera, and at the same time a person can control or edit
the functions of the camera and/or the position of the pan/tilt head
manually. When a plurality of robots or robotic cameras are used, a
plurality of cameras can be aimed at a common target object, so that the
same object is captured by the cameras simultaneously from different
perspectives. However, the plurality of cameras can also be actuated in
such a way that a target object is passed from one camera to a next
camera. That enables automated object tracking over great distances.

[0024]In an advantageous way, the control variables for shafts of the at
least one robot can be synchronized by means of a synchronous control
with control variables for traveling drives of a movable platform on
which the robot is mounted.

[0025]The movable platform can be an automatically movable traveling
stand, or a platform with omnidirectional drive.

[0026]In the configuration as an omnidirectional drive, preferably Mecanum
wheels are used.

[0027]To improve the positioning accuracy, or also to correct slippage,
the position of the movable platform in the plane of travel can be
calibrated by means of markers of known position.

[0028]One or more optical targets attached in the plane of travel of the
movable platform can be used as markers. Preferably, a separate target is
assigned to each work location for the robot. A work location is
understood here as the basic position of the robot base, from which the
camera movements are executed within a set or studio.

[0029]The position and/or orientation of the camera in space can be
determined optionally by means of markers or wirelessly detectable
position sensors. GPS sensors can be used for example as wireless
position sensors. Along with the position of the robot base, the height
position of the camera can also be determined for example by this means.
In addition to the position setting by means of the shaft angle positions
of the robot, different height positions of the camera can also be moved
to by way of the position of an adjustable-height stand.

[0030]In a preferred variant of the method according to the invention, the
shafts of the robot are provided with different drive types and/or
transmission types depending on various application profiles. It can be
advantageous, for example in the cases of applications in which
especially slow camera excursions are necessary, to use very greatly
reduced transmissions that convert a maximum speed of the drive motor to
a very low angular speed for the robot shaft in question. Very slow
camera excursions mean for example camera movements in space at travel
speeds of 0.01 cm/s or angular velocities of 0.01 degrees/s. In other
application cases, for example when tracking objects moving at high
speeds, preferably less reduced transmissions are used that enable a high
angular speed for the robot shaft in question. Such high speed movements
mean for example camera movements in space at travel speeds of 2 m/s or
angular velocities of 180 degrees/s.

[0031]In an application profile for camera movements that require
extremely low noise, servo motors can be employed for example. By
preference the servo motors are operated through frequency converters at
a frequency of over 15 kilohertz. This enables the camera robots
according to the invention to be used even for live recordings with sound
and live transmissions, without interference from disturbing sounds that
could be caused by drives of the camera robot. No disturbing audible
sounds are produced by the operation of frequency converters at a
frequency of over 15 kilohertz, so that expensive sound insulation of the
robot drives can be dispensed with.

[0032]In an application profile for camera movements at low speeds and
very low noise, preferably harmonic drive transmissions are used, which
enable very high rotational speed trans-mission ratios without free play,
with low noise propagation.

[0033]Associated with the method according to the invention for moving a
camera disposed on a pan/tilt head along a given trajectory is a camera
robot according to the invention which is equipped with a pan/tilt head
designed to hold a camera, which is disposed on a receiving flange of the
robot, where the robot is preferably equipped with at least four rotating
shafts. In a preferred embodiment the robot has six rotating shafts. That
enables the robot to move the camera to the same desired position with
the robot in different positions. Hence the camera can be moved to
positions that cannot be reached with known camera stands.

[0034]To make the camera system flexible, the camera robot can be
connected to a controller that is designed to actuate additional
positioning drives for at least the panning and tilting functions of the
pan/tilt head.

[0035]In addition, the controller can be designed to actuate positioning
drives for roll, camera, zoom, focus and/or iris.

[0036]Additionally, the camera robot can be disposed on a linear or
traveling drive that is actuatable by the controller. A linear drive that
is known in particular in robotics can be provided, in order to further
increase the mobility of the robot system according to the invention. A
linear drive of this sort has the advantage that it enables a linear
movement without slippage, whereby even large straight-line movements of
the camera can be repeated with exact positioning.

[0037]In an alternative embodiment of the invention the camera robot can
be disposed on a movable platform.

[0038]The movable platform is preferably an automatically movable
traveling stand, or a platform with omnidirectional drive.

[0039]If the drive is designed as an omnidirectional drive, then Mecanum
wheels are preferably provided as the drive wheels.

[0040]In addition to guiding the camera and actuating the positioning
drives for roll, camera, zoom, focus and/or iris, the controller can also
be designed to control additional external studio equipment such as video
servers and video mixers. The controller can also be designed so that it
can be actuated in turn by the external studio equipment. The precision
of the camera robot controller enables it to be linked to newsroom
systems.

[0041]The invention will be explained in greater detail below on the basis
of exemplary embodiments.

[0042]The figures show the following:

[0043]FIG. 1a a schematic depiction of the sequence of a method according
to the invention in a basic variant;

[0044]FIG. 1b: a schematic depiction of the sequence analogous to FIG. 1a,
with the pan and tilt functions as additional axes;

[0045]FIG. 2: a schematic depiction of a control system according to the
invention;

[0046]FIG. 3: a side view of a camera robot according to the invention,
and

[0047]FIG. 4: the camera robot from FIG. 3 with an additional linear axis;

[0048]FIG. 5 a camera robot according to the invention with a movable
stand.

[0049]FIG. 1a depicts schematically the sequence of a method according to
the invention. In a TV studio 1 a desired camera movement for a film
sequence is planned and a matching trajectory 2 for a camera 3 is
defined. The method determines from the defined trajectory 2 for the
camera 3 the positions and orientations of a basic reference system 4 in
space. As shown in FIG. 2, the basic reference system 4 is located at a
firmly defined location of a pan/tilt head 5, to which the camera 3 is
attached. The basic reference system 4 is preferably provided on a
connecting part 6 of pan/tilt head 5. Connecting part 6 is firmly
connected to a receiving flange 7 of a six-shaft industrial robot 8. In
this embodiment, basic reference system 4 is coupled in this respect with
the motions of receiving flange 7, and thus corresponds to a receiving
flange or tool center point (TCP) of the six-shaft industrial robot 8.
The positions of basic reference system 4 in space are defined by the
three Cartesian spatial coordinates X, Y and Z. The orientations of basic
reference system 4 in space are defined by the three rotations in the
Cartesian spatial coordinate system. The A rotation preferably
corresponds to a rotation around the Z axis, the B rotation to a rotation
around the Y axis, and the C rotation to a rotation around the X axis of
the Cartesian spatial coordinate system. The trajectory 2 can be
re-traversed repeatedly as often as desired by assigning a certain
position of basic reference system 4 for example to each time code and
working through the time codes in sequence. Normally the time code is
tied to the process of the film sequence. From the position and
orientation of basic reference system 4, a controller 9 for the six-shaft
industrial robot 8 can determine by means of suitable inverse
transformation algorithms the requisite angular positions 10 of the robot
shafts A1, A2, A3, A4, A5 and A6 to set the particular position and
orientation of basic reference system 4. Corresponding control variables
for the shaft drives 11 of the six-axis industrial robot 8 are generated
from the calculated angular positions 10 by means of associated
servo-amplifiers 12, and are transmitted to the shaft drives 11.

[0050]FIG. 1b shows an expanded variant, with the pan and tilt functions
as additional axes A7 and A8. The trajectory 2 for the camera 3 is
determined in this case not only by the position and orientation of basic
reference system 4, but by additional degrees of freedom that are made
possible by the pan/tilt head 5. In a first variant, the pan function is
defined as an additional axis A7 and the tilt function is defined by
another additional axis A8. The time sequence of changes in the A7 and A8
axes is preferably executed here synchronously with the movements of the
basis reference system 4. In another variant, at least one additional
camera robot 13 can be utilized. Camera robot 13 serves to capture the
film sequence from a different perspective. The at least two trajectories
obtained in this case can be executed synchronously with each other. To
that end, camera robot 13 is coupled with the six-shaft industrial robot
8 through a synchronous control 14. This synchronization preferably
refers to a time-synchronization of different trajectory models of the
six-shaft industrial robot 8 and the camera robot 13. Alternatively, the
six-shaft industrial robot 8 and the camera robot 13 can also be operated
in such a way that they execute synchronous trajectory models with offset
positions.

[0051]FIG. 2 shows a schematic depiction of a control system according to
the invention. The method according to the invention can be realized in
the controller 9. Controller 9 is preferably located on a control
computer, which preferably has a touch screen interface attached. The
touch screen 14 enables execution commands to be input into the
controller manually. The trajectories 2 can be traversed for example by
means of a manual control system 15. The control system 15 can be in the
form of a joystick panel. A selected camera can be moved manually in
space by means of the joystick. Instead of a joystick, a 6-D mouse can
also be used. As an alternative to manual actuation of the cameras 3, the
trajectories 2 can also be fed to the controller 9 in a simulation system
16 of a virtual set of the studio 1. A large number of pre-programmed
trajectory models can be stored in controller 9. The desired trajectory
model is selected by means of a control device 17. In addition, external
trajectory models can be fed to controller 9 through a preferably digital
input and output interface 18. Pre-programmed trajectory models can be
stored in a memory 19 that is detachable from controller 9. Different
memories 19 can be fed selectively to controller 9. To that end, either a
single slot 20 can be provided on controller 9, into which the selected
memory 19 is inserted and the corresponding trajectory model of
controller 9 is thereby implemented, or else several slots 20 for a
plurality of memories 19 are provided, so that a group of trajectory
models can be present in the controller and the desired trajectory is
selected by making a corresponding selection on control device 17.
Corresponding to the selected trajectory model, the servo-amplifiers 12
are actuated through a multi-axis controller 21 and the associated shaft
drives 11 are moved. In the exemplary embodiment depicted in FIG. 2 the
robot shafts A1, A2, A3, A4, A5 and A6 of the six-shaft industrial robot
8 are actuated. Axis A7 is used to set the panning and axis A8 to set the
tilting of camera 3. In addition, by way of example, two other axes A9
and A10 are depicted, which can be used optionally for additional camera
functions such as roll, camera on/off, zoom, focus and/or iris.

[0052]FIG. 3 shows a six-shaft industrial robot according to the
invention, constructed as an articulated-arm robot. A carousel 22 is
rotatably connected to a base frame 23 by way of shaft A1. A motion link
24 is flexibly connected to carousel 22 by way of the shaft A2. An arm 25
is rotatably supported on an end located opposite the carousel 22 by way
of the shaft A3. A central hand 26 is rotatable around its longitudinal
extension by way of the shaft A4. The central hand 26 has another shaft
A5, on which the receiving flange 7 is rotatably supported. Receiving
flange 7 itself can execute an additional rotation around the axis 6.
Pan/tilt head 5 is attached to receiving flange 7.

[0053]Pan/tilt head 5 has a connecting plate 27, which is rigidly
connected to receiving flange 7. The basic reference system 4 is tied to
connecting plate 27. A pivoting structure 28 is rotatably supported on
connecting plate 27 by way of the axis A7. The pivoting structure 28
carries a camera holder 29, to which the camera 3 is attached. The camera
holder 29 can be tilted by means of the shaft A8 relative to the pivoting
structure 28.

[0054]FIG. 4 shows the six-shaft industrial robot 8 from FIG. 3, with the
base frame 23 in contrast to FIG. 3 not mounted solidly on a substrate
but disposed on a linear axis 30. By mounting the six-axis industrial
robot 8 on a linear axis 30 an additional degree of freedom is created,
which enables traveling of the complete camera/robot system. Linear axis
30 can be regarded as an additional axis A9, which can be included in the
management by controller 9 in the same way as other supplemental
functions.

[0055]As an alternative to a rigid mounting or to the disposition on a
linear axis 30, the six-axis industrial robot 8 can also be mounted on a
manually or automatically movable traveling stand, as depicted
schematically in FIG. 5. In the simplest design, the traveling stand can
be a manually movable carriage that has steerable wheels. Alternatively,
known driverless transport systems can be used that have wheels which are
drivable by means of an automatic travel controller. In all cases the
travel controller can be connected through a synchronous controller 14 to
the six-shaft industrial robot 8 and the pan/tilt head 5 of the camera 3,
so that the shafts A1 through A6 of the six-shaft industrial robot 8 can
be moved synchronously with the axes A7 and A8 of the pan/tilt head 5 of
the camera 3 and the wheel drives of the platform 32. In the design shown
in FIG. 5, the six-shaft industrial robot 8 is disposed on a movable
platform 32, which is propelled by means of wheel drives in the form of
omnidirectional wheels 33.